I tend to agree with litchralee, changing the duty cycle is usually how these things are done rather than having multiple voltages.
From a control perspective, it's much easier to turn a digital signal on for 1/4 the time than it is to generate 1/4 the voltage for the full time. But that's just for basic PWM. If you're trying to boost the voltage up from your source though, the mechanism for getting a target voltage is a bit different, and relies on "charging up" an inductor and disconnecting it to spike the voltage. I found this reference that seems to have some good diagrams of how it works: https://analogcircuitdesign.com/boost-converter/
In a boost converter, duty cycle and frequency should be tuned to the inductor so that energy isn't being wasted after the inductor reaches steady-state and starts acting like a short circuit.